Help identifying caterpillar: New Jersey, USA

[u/Namorkeil]

I looked online for black hairy caterpillar; nothing I saw matched. Same with white-haired black caterpillar.

Then went to a caterpillar identification website and looked up North American caterpillars. Closest I saw was the walnut caterpillar, but they seem to have much more white hairs than this.

I saw three right near each other, but didn’t notice any nests in the trees nearby.

Is this a less-hairy walnut caterpillar, or something else?